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<div class="title">marching_cubes.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/marching_cubes.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/common/vector_average.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/Vertices.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a643538b2ba01617f8d93ca6852182529">   47</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a643538b2ba01617f8d93ca6852182529">pcl::MarchingCubes&lt;PointNT&gt;::MarchingCubes</a> () </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;: min_p_ (), max_p_ (), percentage_extend_grid_ (), iso_level_ ()</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#afdfe5735007c26f7395baf477fab59b7">   54</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#afdfe5735007c26f7395baf477fab59b7">pcl::MarchingCubes&lt;PointNT&gt;::~MarchingCubes</a> ()</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a9be29d409a9f84b6b5c15dde60ade1a0">   60</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a9be29d409a9f84b6b5c15dde60ade1a0">pcl::MarchingCubes&lt;PointNT&gt;::getBoundingBox</a> ()</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (*input_, min_p_, max_p_);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  min_p_ -= (max_p_ - min_p_) * percentage_extend_grid_/2;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  max_p_ += (max_p_ - min_p_) * percentage_extend_grid_/2;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  Eigen::Vector4f bounding_box_size = max_p_ - min_p_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  bounding_box_size = max_p_ - min_p_;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::MarchingCubesHoppe::getBoundingBox] Size of Bounding Box is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;             bounding_box_size.x (), bounding_box_size.y (), bounding_box_size.z ());</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">double</span> max_size =</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      (std::max) ((std::max)(bounding_box_size.x (), bounding_box_size.y ()),</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          bounding_box_size.z ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  (void)max_size;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// ????</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">//  data_size_ = static_cast&lt;uint64_t&gt; (max_size / leaf_size_);</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::MarchingCubesHoppe::getBoundingBox] Lower left point is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;             min_p_.x (), min_p_.y (), min_p_.z ());</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::MarchingCubesHoppe::getBoundingBox] Upper left point is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;             max_p_.x (), max_p_.y (), max_p_.z ());</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#aafe0e216b2da0d7645f7d1ba5fff8b2c">   87</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#aafe0e216b2da0d7645f7d1ba5fff8b2c">pcl::MarchingCubes&lt;PointNT&gt;::interpolateEdge</a> (Eigen::Vector3f &amp;p1,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                                              Eigen::Vector3f &amp;p2,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                              <span class="keywordtype">float</span> val_p1,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                              <span class="keywordtype">float</span> val_p2,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                              Eigen::Vector3f &amp;output)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">float</span> mu = (iso_level_ - val_p1) / (val_p2-val_p1);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  output = p1 + mu * (p2 - p1);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a6931544f9b8fb7acc41119134dd57f9a">  100</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a6931544f9b8fb7acc41119134dd57f9a">pcl::MarchingCubes&lt;PointNT&gt;::createSurface</a> (std::vector&lt;float&gt; &amp;leaf_node,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                                            Eigen::Vector3i &amp;index_3d,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                                            <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">int</span> cubeindex = 0;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  Eigen::Vector3f vertex_list[12];</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">if</span> (leaf_node[0] &lt; iso_level_) cubeindex |= 1;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (leaf_node[1] &lt; iso_level_) cubeindex |= 2;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">if</span> (leaf_node[2] &lt; iso_level_) cubeindex |= 4;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">if</span> (leaf_node[3] &lt; iso_level_) cubeindex |= 8;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">if</span> (leaf_node[4] &lt; iso_level_) cubeindex |= 16;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (leaf_node[5] &lt; iso_level_) cubeindex |= 32;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordflow">if</span> (leaf_node[6] &lt; iso_level_) cubeindex |= 64;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (leaf_node[7] &lt; iso_level_) cubeindex |= 128;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Cube is entirely in/out of the surface</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] == 0)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">//Eigen::Vector4f index_3df (index_3d[0], index_3d[1], index_3d[2], 0.0f);</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  Eigen::Vector3f center;<span class="comment">// TODO coeff wise product = min_p_ + Eigen::Vector4f (1.0f/res_x_, 1.0f/res_y_, 1.0f/res_z_) * index_3df * (max_p_ - min_p_);</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  center[0] = min_p_[0] + (max_p_[0] - min_p_[0]) * <span class="keywordtype">float</span> (index_3d[0]) / float (res_x_);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  center[1] = min_p_[1] + (max_p_[1] - min_p_[1]) * <span class="keywordtype">float</span> (index_3d[1]) / float (res_y_);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  center[2] = min_p_[2] + (max_p_[2] - min_p_[2]) * <span class="keywordtype">float</span> (index_3d[2]) / float (res_z_);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; p;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  p.resize (8);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; ++i)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    Eigen::Vector3f point = center;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span>(i &amp; 0x4)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      point[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (center[1] + (max_p_[1] - min_p_[1]) / <span class="keywordtype">float</span> (res_y_));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">if</span>(i &amp; 0x2)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      point[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (center[2] + (max_p_[2] - min_p_[2]) / <span class="keywordtype">float</span> (res_z_));</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">if</span>((i &amp; 0x1) ^ ((i &gt;&gt; 1) &amp; 0x1))</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      point[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (center[0] + (max_p_[0] - min_p_[0]) / float (res_x_));</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    p[i] = point;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="comment">// Find the vertices where the surface intersects the cube</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 1)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    interpolateEdge (p[0], p[1], leaf_node[0], leaf_node[1], vertex_list[0]);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 2)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    interpolateEdge (p[1], p[2], leaf_node[1], leaf_node[2], vertex_list[1]);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 4)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    interpolateEdge (p[2], p[3], leaf_node[2], leaf_node[3], vertex_list[2]);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 8)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    interpolateEdge (p[3], p[0], leaf_node[3], leaf_node[0], vertex_list[3]);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 16)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    interpolateEdge (p[4], p[5], leaf_node[4], leaf_node[5], vertex_list[4]);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 32)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    interpolateEdge (p[5], p[6], leaf_node[5], leaf_node[6], vertex_list[5]);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 64)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    interpolateEdge (p[6], p[7], leaf_node[6], leaf_node[7], vertex_list[6]);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 128)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    interpolateEdge (p[7], p[4], leaf_node[7], leaf_node[4], vertex_list[7]);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 256)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    interpolateEdge (p[0], p[4], leaf_node[0], leaf_node[4], vertex_list[8]);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 512)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    interpolateEdge (p[1], p[5], leaf_node[1], leaf_node[5], vertex_list[9]);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 1024)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    interpolateEdge (p[2], p[6], leaf_node[2], leaf_node[6], vertex_list[10]);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (edgeTable[cubeindex] &amp; 2048)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    interpolateEdge (p[3], p[7], leaf_node[3], leaf_node[7], vertex_list[11]);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="comment">// Create the triangle</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; triTable[cubeindex][i] != -1; i+=3)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    PointNT p1,p2,p3;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    p1.x = vertex_list[triTable[cubeindex][i  ]][0];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    p1.y = vertex_list[triTable[cubeindex][i  ]][1];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    p1.z = vertex_list[triTable[cubeindex][i  ]][2];</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (p1);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    p2.x = vertex_list[triTable[cubeindex][i+1]][0];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    p2.y = vertex_list[triTable[cubeindex][i+1]][1];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    p2.z = vertex_list[triTable[cubeindex][i+1]][2];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (p2);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    p3.x = vertex_list[triTable[cubeindex][i+2]][0];</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    p3.y = vertex_list[triTable[cubeindex][i+2]][1];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    p3.z = vertex_list[triTable[cubeindex][i+2]][2];</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (p3);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#aee54b8224b31fad1671cec5c276d35cd">  191</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#aee54b8224b31fad1671cec5c276d35cd">pcl::MarchingCubes&lt;PointNT&gt;::getNeighborList1D</a> (std::vector&lt;float&gt; &amp;leaf,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                                                Eigen::Vector3i &amp;index3d)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;{</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  leaf = std::vector&lt;float&gt; (8, 0.0f);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  leaf[0] = getGridValue (index3d);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  leaf[1] = getGridValue (index3d + Eigen::Vector3i (1, 0, 0));</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  leaf[2] = getGridValue (index3d + Eigen::Vector3i (1, 0, 1));</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  leaf[3] = getGridValue (index3d + Eigen::Vector3i (0, 0, 1));</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  leaf[4] = getGridValue (index3d + Eigen::Vector3i (0, 1, 0));</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  leaf[5] = getGridValue (index3d + Eigen::Vector3i (1, 1, 0));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  leaf[6] = getGridValue (index3d + Eigen::Vector3i (1, 1, 1));</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  leaf[7] = getGridValue (index3d + Eigen::Vector3i (0, 1, 1));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a869ec9eeb1ec0543ab3ea67cb27fbfc9">  209</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a869ec9eeb1ec0543ab3ea67cb27fbfc9">pcl::MarchingCubes&lt;PointNT&gt;::getGridValue</a> (Eigen::Vector3i pos)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (pos[0] &lt; 0 || pos[0] &gt;= res_x_)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">return</span> -1.0f;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">if</span> (pos[1] &lt; 0 || pos[1] &gt;= res_y_)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span> -1.0f;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span> (pos[2] &lt; 0 || pos[2] &gt;= res_z_)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">return</span> -1.0f;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordflow">return</span> grid_[pos[0]*res_y_*res_z_ + pos[1]*res_z_ + pos[2]];</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;}</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">  225</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">pcl::MarchingCubes&lt;PointNT&gt;::performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;{</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">if</span> (!(iso_level_ &gt;= 0 &amp;&amp; iso_level_ &lt; 1))</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n&quot;</span>, getClassName ().c_str (), iso_level_);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    output.cloud.width = output.cloud.height = 0;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    output.cloud.data.clear ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    output.polygons.clear ();</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">// Create grid</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  grid_ = std::vector&lt;float&gt; (res_x_*res_y_*res_z_, 0.0f);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// Populate tree</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  tree_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  getBoundingBox ();</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// Transform the point cloud into a voxel grid</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">// This needs to be implemented in a child class</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  voxelizeData ();</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="comment">// Run the actual marching cubes algorithm, store it into a point cloud,</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// and copy the point cloud + connectivity into output</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> cloud;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 1; x &lt; res_x_-1; ++x)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 1; y &lt; res_y_-1; ++y)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = 1; z &lt; res_z_-1; ++z)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        Eigen::Vector3i index_3d (x, y, z);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        std::vector&lt;float&gt; leaf_node;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        getNeighborList1D (leaf_node, index_3d);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        createSurface (leaf_node, index_3d, cloud);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  pcl::toPCLPointCloud2 (cloud, output.cloud);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  output.polygons.resize (cloud.size () / 3);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; output.polygons.size (); ++i)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> v;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    v.vertices.resize (3);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      v.vertices[j] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i) * 3 + j;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    output.polygons[i] = v;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;}</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a9dfd91eba77209ce1f1e67d2571aa14d">  279</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">pcl::MarchingCubes&lt;PointNT&gt;::performReconstruction</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;points,</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                                                    std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;{</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">if</span> (!(iso_level_ &gt;= 0 &amp;&amp; iso_level_ &lt; 1))</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n&quot;</span>, getClassName ().c_str (), iso_level_);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    points.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = points.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    polygons.clear ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// Create grid</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  grid_ = std::vector&lt;float&gt; (res_x_*res_y_*res_z_, 0.0f);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="comment">// Populate tree</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  tree_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  getBoundingBox ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">// Transform the point cloud into a voxel grid</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="comment">// This needs to be implemented in a child class</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  voxelizeData ();</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="comment">// Run the actual marching cubes algorithm, store it into a point cloud,</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="comment">// and copy the point cloud + connectivity into output</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 1; x &lt; res_x_-1; ++x)</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 1; y &lt; res_y_-1; ++y)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = 1; z &lt; res_z_-1; ++z)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        Eigen::Vector3i index_3d (x, y, z);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        std::vector&lt;float&gt; leaf_node;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        getNeighborList1D (leaf_node, index_3d);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        createSurface (leaf_node, index_3d, points);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  polygons.resize (points.size () / 3);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; polygons.size (); ++i)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> v;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    v.vertices.resize (3);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      v.vertices[j] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i) * 3 + j;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    polygons[i] = v;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;}</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_MarchingCubes(T) template class PCL_EXPORTS pcl::MarchingCubes&lt;T&gt;;</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SURFACE_IMPL_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a643538b2ba01617f8d93ca6852182529"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a643538b2ba01617f8d93ca6852182529">pcl::MarchingCubes::MarchingCubes</a></div><div class="ttdeci">MarchingCubes()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a6931544f9b8fb7acc41119134dd57f9a"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a6931544f9b8fb7acc41119134dd57f9a">pcl::MarchingCubes::createSurface</a></div><div class="ttdeci">void createSurface(std::vector&lt; float &gt; &amp;leaf_node, Eigen::Vector3i &amp;index_3d, pcl::PointCloud&lt; PointNT &gt; &amp;cloud)</div><div class="ttdoc">Calculate out the corresponding polygons in the leaf node</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a869ec9eeb1ec0543ab3ea67cb27fbfc9"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a869ec9eeb1ec0543ab3ea67cb27fbfc9">pcl::MarchingCubes::getGridValue</a></div><div class="ttdeci">virtual float getGridValue(Eigen::Vector3i pos)</div><div class="ttdoc">Method that returns the scalar value at the given grid position.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:209</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a8f9be8dba860549426fe3fbac21c453c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">pcl::MarchingCubes::performReconstruction</a></div><div class="ttdeci">virtual void performReconstruction(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">Extract the surface.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a9be29d409a9f84b6b5c15dde60ade1a0"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a9be29d409a9f84b6b5c15dde60ade1a0">pcl::MarchingCubes::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox()</div><div class="ttdoc">Get the bounding box for the input data points.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aafe0e216b2da0d7645f7d1ba5fff8b2c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aafe0e216b2da0d7645f7d1ba5fff8b2c">pcl::MarchingCubes::interpolateEdge</a></div><div class="ttdeci">void interpolateEdge(Eigen::Vector3f &amp;p1, Eigen::Vector3f &amp;p2, float val_p1, float val_p2, Eigen::Vector3f &amp;output)</div><div class="ttdoc">Interpolate along the voxel edge.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:87</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aee54b8224b31fad1671cec5c276d35cd"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aee54b8224b31fad1671cec5c276d35cd">pcl::MarchingCubes::getNeighborList1D</a></div><div class="ttdeci">void getNeighborList1D(std::vector&lt; float &gt; &amp;leaf, Eigen::Vector3i &amp;index3d)</div><div class="ttdoc">Method that returns the scalar values of the neighbors of a given 3D position in the grid.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:191</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_afdfe5735007c26f7395baf477fab59b7"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#afdfe5735007c26f7395baf477fab59b7">pcl::MarchingCubes::~MarchingCubes</a></div><div class="ttdeci">virtual ~MarchingCubes()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointNT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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